WO2021151589A1

WO2021151589A1 - Apparatus for manufacturing fibre-reinforced components

Info

Publication number: WO2021151589A1
Application number: PCT/EP2020/087364
Authority: WO
Inventors: Ingolf Müller; Andre Stieglitz
Original assignee: Zf Friedrichshafen Ag
Priority date: 2020-01-31
Filing date: 2020-12-21
Publication date: 2021-08-05
Also published as: CN115023336A; US20230347598A1; DE102020201188A1; EP4096904B1; EP4096904A1

Abstract

The invention relates to an apparatus (10) for manufacturing fibre-reinforced components (1) according to a three-dimensional winding method, comprising at least one computer-controlled winding machine for winding around at least one fibre carrier (11) arranged on an axis of rotation (16) with thread-like continuous fibre strands (12) provided on at least one reel (18) with at least one winding pattern. The at least one winding machine is designed as a robot arm (13) which has a plurality of axes of rotation and sets down at least two fibre strands (12) simultaneously, and the at least one robot arm (13) is designed to simultaneously set down the at least two fibre strands (12) distributed over at least two fibre carriers (11) each arranged on a separate axis of rotation (16) and/or to simultaneously set down the at least two fibre strands (12) on only one fibre carrier (1) arranged on a separate axis of rotation (16).

Description

Device for the production of fiber-reinforced components

The present invention relates to a device for the production of fiber-reinforced components according to a three-dimensional winding process, the device comprising at least one computer-controlled winding machine for wrapping a fiber carrier arranged on an axis of rotation with filamentary continuous fiber strands with at least one winding pattern provided on at least one spool. The invention further relates to a method for generating winding patterns on a fiber carrier.

DE 10 2017 222 479 A1 discloses a device for manufacturing fiber reinforced components using a three-dimensional winding method and a method for generating winding patterns on a fiber carrier. For example, DE 10 2017 222 479 A1 describes a robot with which a thread made of a fiber-reinforced plastic composite material is wound onto a core in order to form the component. The core is picked up on the robot arm, the core being guided by the robot arm while the thread is being wrapped, or the core is picked up on an axis, the thread being guided by a robot arm to feed the core with the thread wrap around.

DE 10 2017 005 754 A1 describes a system for manufacturing fiber-reinforced components using a three-dimensional winding process. The three-dimensionally movable winding machine is positioned centrally in an annular cage, with a plurality of rotatable plate-shaped carrier elements for fitting with a fiber carrier being fastened from the outside along a circumference of the cage. The fiber carriers face the winding machine after they have been loaded. A coil unit with the continuous fiber strand is attached to the winding machine, with a head of the winding machine for guiding the continuous fiber strand and for three-dimensional Wicke development of the fiber carrier with the continuous fiber strand. The wrapping of the fiber carriers takes place successively in accordance with the annular arrangement of the carrier elements equipped with the fiber carriers. Based on the prior art described above, it is now the task of the present invention to develop a device for the production of fiber reinforced th components according to a three-dimensional winding method and a method for generating winding patterns on a fiber carrier that this is due to a higher efficiency in the Distinguish the manufacture of fiber-reinforced components.

This object is achieved from the point of view of the device based on the preamble of claim 1 in conjunction with its characterizing features. From a procedural point of view, the problem is solved on the basis of the preamble of the independent claim 13 in connection with its characterizing the features. The subsequent dependent claims each reproduce advantageous developments of the invention.

According to the invention, a device for the manufacture of fiber-reinforced structural parts is proposed according to a three-dimensional winding process, the device comprising at least one computer-controlled winding machine for winding a fiber carrier arranged on a rotation axis with filamentary continuous fiber strands with at least one winding pattern provided on at least one bobbin. According to the invention, it is provided that the at least one winding machine is designed as a robot arm having several axes of rotation, which deposits at least two fiber strands at the same time, the at least one robot arm for the simultaneous deposit of the at least two fiber strands distributed over at least two fiber carriers and each arranged on a separate axis of rotation / or is set up for the simultaneous depositing of the at least two fiber strands on only one fiber carrier arranged on a separate axis of rotation. In particular, the at least one winding machine is designed as a robot arm having six axes of rotation. In particular, the respective axis of rotation forms a seventh axis of the device around which the respective fiber carrier rotates when the thread is laid down. This allows the number of components to be produced at the same time to be increased or the production time for an individual component to be reduced. In particular through a combination of parallel wrapping of two or more fiber carriers with simultaneous pa- Parallelized storage of two or more fiber strands on the respective fiber carrier enables the production speed to be multiplied. There is a multi-dimensional parallelization of the manufacturing process, whereby the manufacturing speed can be increased as the product of the number M fiber carriers and the number N fiber strands to be deposited.

The device can have at least one device for maintaining a predeterminable fiber strand tension independently of the feed direction of the respective fiber strand between the bobbin and the fiber carrier. By means of the device, the predeterminable fiber strand tension of the respective fiber strand can be maintained both during unwinding, i.e. feeding the respective fiber strand, and rewinding, i.e. rewinding an excessively withdrawn fiber strand.

For this purpose, the at least one device can comprise at least one electronically controlled synchronous motor which drives the coil. Synchronous motors are ideal for applications in which a load-independent, stable speed is required, as is the case when maintaining the fiber strand tension. In addition, a synchronous motor enables a compact and efficient design of the device for maintaining the fiber strand tension, which is reflected in the total weight of the at least one device. Each coil is driven by an electronically controlled synchronous motor.

In particular, the at least one device can comprise at least one sensor unit for detecting the fiber strand tension and at least one computing unit for controlling the at least one synchronous motor as a function of the detected fiber strand tension. The at least one sensor unit preferably works without contact in order to minimize the influence on the fiber strand tension to be detected.

According to a preferred embodiment, the at least one device for maintaining the fiber strand tension can be provided with a receiving unit for would take at least one coil to be connected. At least one spool carrying the fiber strand to be unwound can be arranged on the receiving unit. Before given, the coil is positively connected to the synchronous motor. Particularly preferably, two or more coils can be arranged on the receiving unit, each of which is positively connected to the respective driving synchronous motor. This allows the number of fiber-reinforced components to be produced at the same time to be increased accordingly. The synchronous motors on the recording unit can be controlled by a common arithmetic unit. Alternatively, each of the synchronous motors can be controlled by a separate processing unit.

In particular, the at least one coil can be arranged at a distance from the at least one robot arm. This arrangement has the advantage that the at least one coil that is spatially spaced apart from the robot arm does not form any additional mass that has to be carried by the robot arm. In the case of external material storage, the robot arm only carries a storage unit with which the fiber strand is guided when it is wrapped around and placed on the fiber carrier. With the at least one coil, the at least one device for maintaining the fiber strand tension is correspondingly arranged with the receiving unit for receiving the at least one coil at a distance from the robot arm.

According to an alternative embodiment, the at least one coil can be arranged on the at least one robot arm. This arrangement has the advantage that the free thread length, i.e. the distance between the bobbin and the fiber carrier, is kept small and the robot arm can move at higher speeds. Here, both the at least one device for maintaining the fiber strand tension and the at least one coil are carried along directly on the robot head, i.e. the free end of the robot arm.

According to a further alternative embodiment, the axis of rotation on which the fiber carrier is arranged can be arranged on the robot arm. According to this arrangement, an external material supply is provided, in which in addition to the at least At least one coil, accordingly, the at least one device for maintaining the fiber strand tension with the receiving unit are arranged spatially spaced from the robot arm.

In particular, at least one thread eye can be arranged on the at least one robot arm for essentially low-friction feeding of the respective fiber strand. This is important when feeding the fiber strand, since the fiber strand is a pre-impregnated thread-like semifinished product, for example a towpreg semifinished product, yarnpreg semifinished product, uni-tape semifinished product or pre-preg semifinished product. Pre-impregnated semi-finished products are used because they allow winding speeds up to a factor of 10 to be achieved compared to the classic wet winding process. Due to the stickiness of the pre-impregnated fiber strand and the use of the three-dimensional winding process as well as the rotation of the component around an axis of rotation, curved winding paths can be generated outside the geodetic lines of the component.

According to a preferred development, at least two fiber carriers can be arranged essentially parallel to one another on separate axes of rotation. For this purpose, a bogie can be provided which comprises at least two driven axes of rotation, on each of which a fiber carrier is arranged. Here, several parallel, similarly controlled rotary axes can be operated, on each of which a fiber carrier is arranged and thus can rotate about its winding axis. All parallel rotary axes rotate synchronously or almost synchronously, so that all rotary axes on the bogie are addressed simultaneously with one control command. The receiving unit, which carries the bobbins, has a device for maintaining the fiber strand tension in order to control the respective synchronous motor.

Provided that a smooth synchronization of the winding axes is established and the influence of external disturbances, such as geometrical deviations of the components to be manufactured or the same unwinding state, i.e. diameter of the bobbins, etc., is limited, a simplified arrangement can be implemented in which rather, the receiving unit carrying the bobbins is used with only one device for maintaining the fiber strand tension for the bobbins. The synchronous motors can be controlled by exactly one device for maintaining the fiber strand tension.

A configuration of the device for manufacturing fiber-reinforced components with a combination of a coil arrangement and a fiber carrier arrangement is particularly advantageous. The coil arrangement can be provided in such a way that several coils are arranged in a matrix-like manner on a receiving unit, ie at least two coils in a row next to one another and at least two coils in a column one below the other, with fiber strands being withdrawn in parallel from each coils in a row . The fiber carrier arrangement can have at least two fiber carriers to be wrapped, which are arranged on at least two parallel axes of rotation. The respective parallelized fiber strands are fed to the respective fiber carrier from the respective coils arranged in a row. This makes it possible to achieve a multidimensional parallelization of the manufacturing process, by means of which the manufacturing speed in the dimension of the product can be increased by the number of fiber carriers and the number of fiber strands.

In particular, two robot arms can be arranged opposite one another, which are set up for the inverse storage of at least one fiber strand on a fiber carrier arranged between the robot arms on an axis of rotation. Inverse storage is understood to mean a simultaneous mirror image or opposite storage of a respective fiber strand on the one on the axis of rotation arranged fiber carrier with respect to the axis of symmetry of the fiber carrier. The axis of symmetry of the fiber carrier should coincide with the axis of rotation. To increase efficiency, the two robot arms, arranged opposite one another, can be set up for the inverse storage of two or more fiber strands on the fiber carrier arranged between the robot arms on the axis of rotation. Furthermore, it is conceivable that two fiber carriers can be arranged next to one another on a common axis of rotation. Here, at least two parallelized fiber strands can be deposited on two fiber carriers arranged between the robot arms on an axis of rotation, distributed at least in each case.

Furthermore, the object set at the beginning is achieved by a method having the features of claim 13.

According to claim 13, a method for generating winding patterns on a fiber carrier with a device according to one of claims 1 to 12 is proposed, in which the device is used to wind an even multiple of parallelized fiber strands, but at least two fiber strands, onto at least one fiber carrier become.

For this purpose, it can be provided that a predeterminable fiber strand tension is maintained during the winding process, regardless of the fiber feed direction of a fiber strand between the bobbin and the fiber carrier. By means of the device for maintaining the fiber strand tension, the specifiable fiber strand tension of the respective fiber strand can be maintained both during unwinding, i.e. feeding the respective fiber strand, and rewinding, i.e. rewinding an excessively withdrawn fiber strand. For this purpose, the at least one device can comprise at least one electronically controlled synchronous motor which drives a spool from which the fiber strand is drawn off. To control the at least one synchronous motor, the fiber strand tension is detected by means of a sensor unit and evaluated by a computing unit of the at least one device in order to control the synchronous motor as a function of the fiber strand tension.

In particular, two axes of rotation of the at least one robot arm having several axes of rotation can be controlled in such a way that they are operated at a constant angle during the entire winding process when fiber strands are deposited in parallel, distributed on fiber carriers arranged parallel to one another. In this case, from on a recording unit are parallel two or more fiber strands are withdrawn from the coils arranged in relation to one another, with which the fiber carriers arranged parallel to one another are wrapped. The kinematics of the robot arm is restricted in order to ensure that all removed fiber strands run exactly parallel, have the same length or the same distance between the fiber carrier and the respective coil and arrive at the same point of the fiber carrier. In particular, the at least one robot arm has six axes of rotation.

By means of the device according to the invention and the method according to the invention, in particular fiber-reinforced components for chassis of Fahrzeu conditions can be manufactured. In particular, components with a clear load flow that is as constant as possible can be manufactured using the device or the method, in which the load flow is limited to a few dominant load directions. For example, all types of multi-point links, two-point links, three-point links, four-point links or five-point links can be represented with this method. Functional components of the smallest mass with simultaneously high strength and stiffness values are created.

Advantageous embodiments of the invention, which are explained below, are shown in the drawings. It shows:

1a-1e are schematic views of fiber-reinforced components designed as multi-point links;

2 schematically shows a device for the production of fiber-reinforced components according to a three-dimensional winding process;

3 schematically shows a device according to FIG. 2 according to a further embodiment;

FIG. 4 schematically shows a device according to FIG. 2 according to a third embodiment; Fig. 5 schematically shows a device for parallelized storage of two fiber strands on two fiber carriers;

6 schematically shows a further development of the device according to FIG. 5;

Fig. 7 schematically shows a device for parallelized storage of two fiber strands on a fiber carrier; and

Fig. 8 schematically shows a device for parallelized depositing of two fiber strands on a fiber carrier according to a further embodiment.

The same reference numerals are used below for identical or functionally identical components or components.

In Figs. 1a to 1e, schematic views of fiber-reinforced components 1 out as multi-point links are shown. 1a shows a chassis structural component 1 designed as a two-point link. The chassis structural component 1 comprises a body 2 which has at least two load application regions 4 which are connected to one another by a connecting structure 3. The connection structure 3 of the body 2 can in particular be designed as a hollow profile. The body 2 essentially determines the basic shape of the vehicle structural component 1. In FIGS. 1 b and 1 c, two variants of a chassis structural component 1 designed as a three-point link are shown by way of example. In FIGS. 1d and 1e, a chassis structural component 1 designed as a four-point link or a five-point link is shown by way of example. Chassis structural components 1 designed as multi-point control arms can connect kinematic points in a chassis and / or in a wheel suspension and transmit movements and / or forces. Here, the connection of the multi-point link with other components of the chassis can be realized by means of joints that are arranged in the load application areas 4. Due to the symmetry of their shape and the arrangement of the load introduction areas 4, these components 1 have a clear, essentially constant load flow that is limited to a few dominant load directions. The manufacture of such components As fiber-reinforced components using a three-dimensional winding process, it is possible to manufacture functional components of the smallest mass with high strength and rigidity values at the same time.

Various embodiments of a device 10 for manufacturing such fiber-reinforced components 1 according to a three-dimensional winding method and a method for generating winding patterns on a fiber carrier 11 with such a device 10 are described below.

In Fig. 1, a device 10 for the manufacture of fiber-reinforced construction parts 1 is shown schematically according to a three-dimensional winding process. The fiber carrier

I I forms a core element of the component 1, wherein the fiber carrier 11 consists of a foam material, which is wrapped with at least one thread-like continuous fiber strand 12, hereinafter referred to as fiber strand, made of a fiber plastic composite material. The fiber carrier 11 essentially provides the contour of the component to be manufactured, but without exercising a load-bearing function.

The illustration shows the fiber carrier 11 with articulated elements already arranged on it in the load application areas 4. The depositing takes place in the form of one or more different winding patterns, each winding pattern being assigned a specific task of influencing one or more mechanical properties of the component 1.

The device 10 comprises at least one computer-controlled winding machine which is designed as a robot arm 13 having six axes of rotation. To control the at least one robot arm 13, a control unit 14 is provided, which communicates with the robot arm 13 via a signal line or a bus system 15. The fiber carrier 11 is arranged on a driven axis of rotation 16 of a bogie 17, onto which the at least one fiber strand 12 is wound with at least one winding pattern that can be predetermined by the control unit 14. The drive of the axis of rotation 16 can also be controlled by the control unit 14 via the bus system 15. The axis of rotation 16 of the bogie forms a seventh The axis of rotation of the device 10. The at least one fiber strand 12 is provided on at least one spool 18. The coil 18 is arranged at a spatial distance from the robot arm 13.

The device 10 further comprises at least one device 19 for maintaining a predeterminable fiber strand tension. The respective device 19 comprises a drive motor, a computing unit 21 and at least one sensor unit 22 for detecting the fiber strand tension. The coil 18 is non-rotatably arranged on an axis 23 which is driven by the drive motor, which is designed as an electronically controlled synchronous motor 20. The fiber strand 12 withdrawn from the bobbin 18 is fed to the fiber carrier 11 essentially without friction to the thread eyes 24 arranged on the robot arm 13. To monitor the fiber strand tension, there is at least one sensor unit 22 along the free path of the at least one fiber strand 12 between the unwinding point on the bobbin 18 and the point of deposit on the fiber carrier 11.

The computing unit 21 is set up to evaluate the signals of the at least one sensor unit 22 and to control the at least one synchronous motor 20 as a function of the detected fiber strand tension. The activation of the at least one synchronous motor 20 by the arithmetic unit 21 enables the predeterminable fiber strand tension to be maintained. This is necessary in order to avoid a lengthening or shortening of the fiber strand 12 caused by the movement of the robot arm 13. For this purpose, the control unit 14 of the robot arm 13 can be connected to the processing unit 21 by the bus system 15 in order to transmit the movement profile of the robot arm 13, which has six axes of rotation, to the processing unit 21. In this way, the precision with which the fiber strand tension is maintained by controlling the synchronous motor 20 can be increased. The spool 18 driven by the synchronous motor 20 can be operated in such a way that alternating unwinding and rewinding of the fiber strand 12 is possible by changing the direction of rotation. The illustration in FIG. 3 shows schematically the device 10 according to FIG. 2 according to a further embodiment. This embodiment of the device 10 differs from the one previously described by the different positioning of the at least one coil 18 and the device 19 for maintaining the predeterminable fiber strand tension of the at least one fiber strand 12. The coil 18 and the device 19 are on the head 25 of the Robot arm 13 arranged and who the carried along by this. The advantage of this arrangement is the shorter free path length of the fiber strand 12, whereby the control of the synchronous motor 20 is simplified. In addition, the speed of movement of the robot arm 13 can thereby be increased.

In Fig. 4, the device 10 of FIG. 2 according to a third Ausfüh is shown approximately approximately. In contrast to the previously described embodiments of the device 10, the axis of rotation 16, on which the at least one fiber carrier 12 is rotatably arranged, is arranged on the head 25 of the robot arm 13. The coil 18 and the device 19 for maintaining the tension of the fiber strand are arranged at a spatial distance from the robot arm 13.

While in the embodiments according to FIGS. 2 and 3 the at least one fiber strand 12 is guided through the robot arm 13 and the at least one fiber carrier 11 to be wrapped is arranged on at least one driven axis of rotation 16 of the bogie, the fiber carrier 11 is shown according to this third in FIG 4 guided by the robot arm 13.

Fig. 5 shows schematically the device 10 for the parallelized storage of two fiber strands 12 on two fiber carriers 11. An M-fold parallelized fiber strand storage on several parallel fiber carriers 11 increases the efficiency of the method for generating winding patterns on the fiber carriers 11 and thus the production of the components 1 is achieved. The device 10 is based on the embodiment described with reference to FIG. 3. A receiving unit 26 for receiving two or more coils 18 is arranged vertically one above the other on the head 25 of the robot arm 13. Thereby are according to the number of the coils 18, two or more devices 19 for maintaining the fiber strand tension, as already described above, are connected to the receiving unit 26. Each device 19 serves to maintain the fiber strand tension of the respective fiber strand 12 drawn from a spool 18. The bogie 17 comprises two or more driven axes of rotation 16, corresponding to the number of columns arranged above the reels 18, on each of which a fiber carrier 11 is arranged. The control unit 14 controls the drives of the axes of rotation 16, which form the seventh axis of rotation of the device 10, in such a way that the mutually parallel axes of rotation 16 of the rotary frame are operated in the same way. The computing units 21 of the devices 19 control the synchronous motors 20 driving the axles 23 in such a way that the fiber strand feed process from the coils 18 picked up in parallel by the receiving unit 26 also proceeds in the same way. Preferably, all axes of rotation 16 or axes 23 oriented in parallel can rotate synchronously so that all axes of rotation 16 or axes 23 can be addressed simultaneously with one control command.

The illustration in FIG. 6 schematically shows a further development of the device 10 according to FIG. In addition, the implementation of this development of the device 10 should limit the influence of external disturbances, such as geometrical deviations, essentially the same unwinding state, i.e. essentially the same diameter of the bobbins 18, and the like. Taking into account at least one of these prerequisites, a simplified embodiment of the device 10 can be that it can be operated with only one device 19 but two or more synchronous motors 20 for driving the coils 18.

With the devices 10 shown in FIGS. 5 and 6, it is possible to carry out a paral lele production of several components 1 of the number M with only one robot arm 13 in the same total production time. The production time per component 1 can be reduced to the Mth part of the total time. FIG. 7 schematically shows the device 10 in an embodiment which is set up for parallel storage of two fiber strands 12 on a single fiber carrier 11. The receiving unit 26 carries at least two coils 18 arranged next to one another in a horizontal row. The filing of the fiber strands 12 takes place in accordance with the respective winding pattern to be generated on almost parallel filing tracks, ie with a slight spatial offset of the individual fiber strands 12. The entire component 1 usually settles from different winding patterns, which in turn are made up of several parallel fiber tows (winding orbits). The basic construction principle of these three-dimensional wound components 1 is therefore very well suited for parallelization of the fiber strands 12. Two or more fiber strands 12 from a corresponding number of devices 19 for maintaining the fiber strand tension with a small spatial distance can be parallel on a single Fadenträ ger 11 can be stored. A respective winding pattern with x parallel fiber strands 12 can thus be represented by x / N winding orbits.

In particular, by combining the embodiments shown in FIGS. 5 and 6 with the embodiment shown in FIG. 7, a multidimensional parallelization of the manufacturing process can be achieved through which the manufacturing speed in the dimension of the product of the number of fiber carriers 11 and the number of fiber strands 12 can be increased.

Fig. 8 schematically shows a device 10 for parallelized storage of two fiber strands 12 on a single fiber carrier 11 according to a further embodiment Wind up carrier 11. The two robot arms 13 are arranged opposite one another, so that the bogie 17 is located between them. The control unit 14 is set up to control the two robot arms 13 for inverse storage in each case at least one fiber strand 12 on the fiber carrier 11 arranged between the robot arms 13 on the axis of rotation 16. When placed inversely on the fiber carrier 11, a simultaneous mirror image or opposite direction Deposition of a respective fiber strand 12 on the one on the axis of rotation 16 to understand fiber carrier 11 with respect to its axis of symmetry. Thus, in the illustrated embodiment, the fiber carrier 11 is wrapped around a component 1 designed as a four-point link. For example, two opposing load application areas 4 are wrapped around at the same time. The same applies to the body 2 of the component 1. This embodiment can also be developed further in that a receiving unit 26 for receiving two or more coils 18 is arranged on each of the heads 25 of the robot arms 13. The deposition of the two or more fiber strands 12 by the respective robot arm 13 takes place in parallel, as has been described by way of example with reference to the embodiment according to FIG. 7.

Bezuqszeichen component body connection structure load introduction area device fiber carrier fiber strand robot arm control unit bus system rotating axis bogie coil device for maintaining the fiber strand tension synchronous motor computing unit sensor unit axis thread eye head of 13 receiving unit

Claims

1. Device (10) for the production of fiber-reinforced components (1) according to a three-dimensional winding process, comprising at least one computer-controlled winding machine for winding at least one fiber carrier (11) arranged on an axis of rotation (16) with at least one spool (18) provided filamentary continuous fiber strands (12) with at least one winding pattern, characterized in that the at least one winding machine is designed as a robot arm (13) having multiple axes of rotation, which deposits at least two fiber strands (12) at the same time, the at least one robot arm (13 ) for the simultaneous storage of the at least two fiber strands (12) distributed on at least two fiber carriers (11) each arranged on a separate axis of rotation (16) and / or for the simultaneous storage of the at least two fiber strands (12) on only one on a separate rate Axis of rotation (16) arranged fiber carrier (1) is set up.

2. Device (10) according to claim 1, characterized in that the device (10) has at least one device (19) for maintaining a predeterminable fiber strand tension regardless of the feed direction of the respective fiber strand (12) between the bobbin (18) and fiber carrier (11) ) having.

3. Device (10) according to claim 2, characterized in that the at least one device (19) comprises at least one electronically controlled synchronous motor (20) which drives the coil (18).

4. Device (10) according to claim 2 or 3, characterized in that the at least one device (19) has at least one sensor unit (22) for detecting the fiber strand tension and at least one computing unit (21) for controlling the at least one synchronous motor (20) depending on the detected fiber strand tension.

5. Device (10) according to one of claims 2 to 4, characterized in that the at least one device (19) for maintaining the fiber strand tension is connected to a receiving unit (26) for receiving at least one coil (18).

6. Device (10) according to one of claims 1 to 5, characterized in that the at least one coil (18) is arranged at a distance from the at least one robot arm (13).

7. Device (10) according to one of claims 1 to 5, characterized in that the at least one coil (18) is arranged on the at least one robot arm (13).

8. Device (10) according to one of claims 1 to 6, characterized in that the axis of rotation (16) on which the fiber carrier (11) is arranged is arranged on the robot arm (13).

9. Device (10) according to one of claims 1 to 8, characterized in that at least one thread eye (24) is arranged on the at least one robot arm (13) for the essentially frictionless feeding of the respective fiber strand.

10. Device (10) according to one of claims 1 to 9, characterized in that at least two fiber carriers (11) are arranged parallel to each other on separate axes of rotation (16) essentially.

11. The device (10) according to any one of claims 1 to 10, characterized in that two robot arms (13) are arranged opposite one another, which for in verse storage in each case at least one fiber strand (12) on one between the robot arms (13) on one Axis of rotation (16) arranged fiber carrier (11) are aligned.

12. The device (10) according to claim 11, characterized in that two fiber carriers (11) are arranged next to one another on a common axis of rotation (16).

13. A method for generating winding patterns on a fiber carrier (11) with a device (10) according to one of claims 1 to 12, characterized in that the device (10) is an even multiple of parallelized fiber strands (12), but at least two fiber strands (12), are wound onto at least one fiber carrier (11).

14. The method according to claim 13, characterized in that a predefinable fiber strand tension is maintained between the spool (18) and the fiber carrier (11) during the winding process, regardless of the fiber feed direction of a fiber strand (12).

15. The method according to claim 13 or 14, characterized in that two axes of rotation of the at least one robot arm (13) having a plurality of axes of rotation are controlled in a parallelized storage of fiber strands (12) distributed on fiber carriers (11) arranged parallel to one another in such a way that these are operated at a constant angle during the entire winding process.